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96 lines
2.7 KiB
C
96 lines
2.7 KiB
C
/**
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******************************************************************************
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*
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* @file ahrs_comm_objects.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief AHRS SPI comms UAVObject definitions.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef AHRS_COMM_OBJECTS_H
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#define AHRS_COMM_OBJECTS_H
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#include "attitudeactual.h"
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#include "attituderaw.h"
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#include "baroaltitude.h"
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#include "gpsposition.h"
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#include "homelocation.h"
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#include "insstatus.h"
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#include "inssettings.h"
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#include "positionactual.h"
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#include "velocityactual.h"
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#include "firmwareiapobj.h"
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#include "gpsposition.h"
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#include "gpssatellites.h"
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#include "gpstime.h"
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/** union that will fit any UAVObject.
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*/
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typedef union {
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AttitudeRawData AttitudeRaw;
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AttitudeActualData AttitudeActual;
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InsStatusData AhrsStatus;
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BaroAltitudeData BaroAltitude;
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GPSPositionData GPSPosition;
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PositionActualData PositionActual;
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VelocityActualData VelocityActual;
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HomeLocationData HomeLocation;
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InsSettingsData InsSettings;
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FirmwareIAPObjData FirmwareIAPObj;
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GPSSatellitesData GPSSatellites;
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GPSTimeData GPSTime;
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} __attribute__ ((packed)) AhrsSharedData;
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/** The number of UAVObjects we will be dealing with.
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*/
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#define MAX_AHRS_OBJECTS 12
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/** Our own version of a UAVObject.
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*/
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typedef struct {
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void *data;
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int size;
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uint8_t index;
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#ifndef IN_AHRS
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UAVObjHandle uavHandle;
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#endif
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} AhrsSharedObject;
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typedef AhrsSharedObject *AhrsObjHandle;
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/** Initialise the object mapping.
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It is important that this is called before any of the following functions.
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*/
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void AhrsInitHandles(void);
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/** the AHRS object related to the given index.
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Returns the AHRS object or NULL if not found
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*/
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AhrsObjHandle AhrsFromIndex(uint8_t index);
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#ifndef IN_AHRS
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/** Get the AHRS object associated with the UAVObject.
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Returns the AHRS object or NULL if not found
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*/
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AhrsObjHandle AhrsFromUAV(UAVObjHandle obj);
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#endif
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#endif //#ifndef AHRS_COMMS_OBJECTS_H
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